sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
sudo apt-get update
sudo apt-get install ros-indigo-desktop-full
sudo rosdep init
rosdep update
echo "source /opt/ros/indigo/setup.bash" >> ~/.bashrc
source ~/.bashrc
sudo apt-get install python-rosinstall

sudo apt-get install ros-indigo-openni-* ros-indigo-openni2-* ros-indigo-freenect-*

roslaunch freenect_launch freenect.launch depth_registration:=true

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace
cd .. && catkin_make
echo "source ~/catkin_ws/src/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc

cd ~/catkin_ws/src
git clone https://github.com/ros-perception/depthimage_to_laserscan
cd .. && catkin_make

sudo apt-get install nano
mkdir ~/launch && cd ~/launch
nano scan.launch

<launch>
  <!-- Kinect cloud to laser scan -->
    <node pkg="depthimage_to_laserscan" type="depthimage_to_laserscan" name="depthimage_to_laserscan">
      <remap from="image"     to="/camera/depth_registered/image_raw"/>
      <remap from="camera_info" to="/camera/depth_registered/camera_info"/>
      <remap from="scan" to="/scan"/>
      <param name="range_max" type="double" value="4"/>
    </node>
    <include file="$(find freenect_launch)/launch/freenect.launch">
       <arg name="depth_registration"         value="true"/>
    </include>
</launch>

roslaunch ~/launch/scan.launch

sudo apt-get install ros-indigo-rtabmap-*
roscd rtabmap_ros/launch
sudo nano rgbd_mapping.launch

32   <arg name="subscribe_scan"          default="false"/>

32   <arg name="subscribe_scan"          default="true"/>

测试:roslaunch rtabmap_ros rgbd_mapping.launch rtabmap_args:="--delete_db_on_start" rtabmapviz:=false

cd ~/catkin_ws/src
git clone https://github.com/grassjelly/linorobot_4wd.git
git clone https://github.com/grassjelly/lino_pid.git
git clone https://github.com/grassjelly/lino_msgs.git
git clone https://github.com/hbrobotics/ros_arduino_bridge
cd .. && catkin_make
cd ~/launch
nano arduino.launch

<node name="arduino" pkg="ros_arduino_python" type="arduino_node.py" output="screen">
    <rosparam file="$(find ros_arduino_python)/config/my_arduino_params.yaml" command="load" />
</node>

roscd ros_arduino_python/config
sudo cp arduino_params.yaml my_arduino_params.yaml
sudo chmod 777 /dev/ttyUSB0
roslaunch ~/launch/arduino.launch

rosrun teleop_twist_keyboard teleop_twist_keyboard.py

roslaunch linorobot_4wd navigate.launch

cd ~/catkin_ws/src/linorobot_4wd/param && ls

export ROS_IP=10.18.241.138&&export ROS_MASTER_URI=http://10.18.241.138:11311/

终端1:roslaunch ~/launch/scan.launch
终端2:sudo chmod 777 /dev/ttyUSB0
roslaunch ~/launch/arduino.launch
终端3:roslaunch rtabmap_ros rgbd_mapping.launch rtabmap_args:="--delete_db_on_start" rtabmapviz:=false
终端4:roslaunch linorobot_4wd navigate.launch

sudo apt-get install ros-indigo-rviz-*

export ROS_IP=10.18.228.187 && export ROS_MASTER_URI=http://10.18.241.138:11311/

终端1:rosrun rviz rviz